SD-RouteFusion: Ego-Trajectory Prediction with SD-Map Route Conditioning
This paper presents SD-RouteFusion, a deployable end-to-end ego-trajectory prediction method that fuses a front-facing camera, vehicle kinematics, and a navigation route derived from a Standard Definition (SD) map. Unlike approaches that rely on High Definition (HD) map geometry, SD-RouteFusion aligns the learning objective with scalable and production-ready SD-map route inputs, enabling route-aware prediction without requiring HD-map infrastructure. First, we demonstrate that SD-map route prior provides a powerful long-horizon semantic prior. Through a comprehensive study on a large-scale real-world dataset comprising 480k driving scenarios across 10 European countries and the U.S., we q...
| Authors | Sviatoslav Voloshyn, Bruno K. W. Martens, Wangxin Liu et al. |
|---|---|
| Primary category | cs.CV |
| Published | 1 July 2026 |
| Last updated at source | 1 July 2026 |
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